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Introduce checkAndFixCovarianceUpdate(KHP) function

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 5c4a3d4576
commit 89bfcc2167
8 changed files with 44 additions and 123 deletions
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EKF/sideslip_fusion.cpp
+2 -13
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@@ -224,20 +224,9 @@ void Ekf::fuseSideslip()
}
}
// if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_sideslip = false;
const bool healthy = checkAndFixCovarianceUpdate(KHP);
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
healthy = false;
_fault_status.flags.bad_sideslip = true;
}
}
_fault_status.flags.bad_sideslip = !healthy;
if (healthy) {
// apply the covariance corrections